#include "rclcpp/rclcpp.hpp"
#include <nlohmann/json.hpp>
#include <memory>

using json=nlohmann::json;

class BtNode:public rclcpp::Node
{
 public:
        BtNode(const char *nodeName,std::string config_path);
        void joinExec_Thread();

private:
        void execThread(); 
        std::thread exec_thread_;
        std::string _port_name;
        int _baud_rate;

};